Theoretical research on a six-axis accelerometer for humanoid robot wrist

Abstract

The acceleration of humanoid robot wrist disturbed the grasp robustness of the multi-fingered robot hand. In order to acquire the acceleration, effectively counteract disturbance caused by the acceleration, and ensure robot hand grasping stably and accurately, the paper presented a novel sixaxis accelerometer used parallel mechanism as the sensing element for humanoid robot wrist, established mathematics model, defined several important static characteristic indices-sensor isotropy and sensitivity indices, and analyzed the relationship between characteristic indices and the structural parameters of sensing element. According to the definition of the indices, the structural parameters were optimized by the performance atlases. In addition, taken into account other factors, the values of structural parameters were given for a six-axis accelerometer with optimum performance and more practical utilization. Finally, FEM simulation experimental results show that the novel six-axis accelerometer has the good dynamic characteristic for humanoid robot wrist.